POI has been getting slowly better here in Phoenix but remains the only reason I even have Google Maps installed. Occasionally I will check gmaps for a POI and plug the result into Apple Maps which I have always found better for actual navigation and usability. It has served me well all across the UK, in Spain, South Africa and many US states.
Last time I tried Google maps it took me a few minutes to even find out how to change between satellite view and line maps. Even when I did find it there's a bunch of options in there, some of which are not mutually exclusive, with no indication whatsoever what can be enabled/disabled at the same time. Visually it looks for all the world like satellite view and traffic view for example cannot be enabled at the same time (they can)
As for improvements to Apple Maps, yes POI should and could be improved. The other thing I'd like to see is lane advice like Navigon has - a very handy feature when you're in an unfamiliar location.